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   <div id="projectname">Calico
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   <div id="projectbrief">A visual-inertial calibration library designed for rapid problem construction and debugging.</div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="preprocessor">#ifndef CALICO_TEST_UTILS_H_</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="preprocessor">#define CALICO_TEST_UTILS_H_</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160; </div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="preprocessor">#include &quot;absl/container/flat_hash_map.h&quot;</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="preprocessor">#include &quot;calico/typedefs.h&quot;</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="preprocessor">#include &quot;Eigen/Dense&quot;</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160; </div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160; </div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="keyword">namespace </span><a class="code" href="namespacecalico.html">calico</a> {</div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160; </div>
<div class="line"><a name="l00011"></a><span class="lineno"><a class="line" href="classcalico_1_1DefaultSyntheticTest.html">   11</a></span>&#160;<span class="keyword">class </span><a class="code" href="classcalico_1_1DefaultSyntheticTest.html">DefaultSyntheticTest</a> {</div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160; <span class="keyword">public</span>:</div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;  <a class="code" href="classcalico_1_1DefaultSyntheticTest.html">DefaultSyntheticTest</a>() {</div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;    <span class="comment">// Create position and orientation setpoints through which we will smoothly</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;    <span class="comment">// interpolate.</span></div>
<div class="line"><a name="l00016"></a><span class="lineno">   16</span>&#160;    <span class="keyword">const</span> Eigen::Quaterniond q_world_sensorrig0(</div>
<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;        Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitZ()) *</div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;        Eigen::AngleAxisd(M_PI, Eigen::Vector3d::UnitX()));</div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;    <span class="keyword">const</span> Eigen::Vector3d t_world_sensorrig0 =</div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;      Eigen::Vector3d(0.0, 0.0, 1.0);</div>
<div class="line"><a name="l00021"></a><span class="lineno">   21</span>&#160;    std::vector&lt;double&gt; angle_displacements =</div>
<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;        {0.0, kAngleAmplitude, 0.0, -kAngleAmplitude, 0.0};</div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;    std::vector&lt;double&gt; position_displacements =</div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;      {0.0, kPosAmplitude, 0.0, -kPosAmplitude, 0.0};</div>
<div class="line"><a name="l00025"></a><span class="lineno">   25</span>&#160;    <span class="comment">// Excitation per axis.</span></div>
<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;    std::vector&lt;double&gt; interpolation_times(kNumSamplesPerSegment);</div>
<div class="line"><a name="l00027"></a><span class="lineno">   27</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> dt_interpolation =</div>
<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;        1.0 / <span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span>(kNumSamplesPerSegment);</div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">double</span> dt_actual = dt_interpolation * kSegmentDuration;</div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; kNumSamplesPerSegment; ++i) {</div>
<div class="line"><a name="l00031"></a><span class="lineno">   31</span>&#160;      <span class="keyword">const</span> <span class="keywordtype">double</span> temp = dt_interpolation * i;</div>
<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;      interpolation_times[i] = (std::sin(temp * M_PI - M_PI_2) + 1.0) / 2.0;</div>
<div class="line"><a name="l00033"></a><span class="lineno">   33</span>&#160;    }</div>
<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;    <span class="keywordtype">double</span> current_time = 0.0;</div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">const</span> Eigen::Vector3d&amp; axis : std::vector{</div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;             Eigen::Vector3d::UnitX(), Eigen::Vector3d::UnitY(),</div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;                 Eigen::Vector3d::UnitZ()}) {</div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;      <span class="comment">// Angular excitation.</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; angle_displacements.size(); ++i) {</div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; theta0 = angle_displacements[i - 1];</div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; theta1 = angle_displacements[i];</div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> dtheta = theta1 - theta0;</div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; interp_time : interpolation_times) {</div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">double</span> theta = dtheta * interp_time + theta0;</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;          <span class="keyword">const</span> Eigen::Quaterniond q_sensorrig0_sensorrig(</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;              Eigen::AngleAxisd(theta, axis));</div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;          <span class="keyword">const</span> Eigen::Quaterniond q_world_sensorrig =</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;              q_world_sensorrig0 * q_sensorrig0_sensorrig;</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;          trajectory_world_sensorrig_[current_time] =</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;              <a class="code" href="classcalico_1_1Pose3.html">Pose3d</a>(q_world_sensorrig, t_world_sensorrig0);</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;          current_time += dt_actual;</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;        }</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;      }</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;      <span class="comment">// Linear excitation.</span></div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 1; i &lt; position_displacements.size(); ++i) {</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; pos0 = position_displacements[i - 1];</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span>&amp; pos1 = position_displacements[i];</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> dpos = pos1 - pos0;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keywordtype">double</span>&amp; interp_time : interpolation_times) {</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;          <span class="keyword">const</span> <span class="keywordtype">double</span> pos = dpos * interp_time + pos0;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;          trajectory_world_sensorrig_[current_time] =</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;              <a class="code" href="classcalico_1_1Pose3.html">Pose3d</a>(q_world_sensorrig0, axis * pos + t_world_sensorrig0);</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;          current_time += dt_actual;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;        }</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;      }</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;    }</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;    <span class="keywordflow">for</span> (<span class="keyword">const</span> <span class="keyword">auto</span>&amp; [stamp, _] : trajectory_world_sensorrig_) {</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;      trajectory_key_values_.push_back(stamp);</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;    }</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    std::sort(trajectory_key_values_.begin(), trajectory_key_values_.end());</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160; </div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    <span class="comment">// Construct planar points.</span></div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">int</span> i = 0; i &lt; kNumXPoints; ++i) {</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">int</span> j = 0; j &lt; kNumYPoints; ++j) {</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> x = i * kDelta - kSamplePlaneWidth / 2.0;</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">double</span> y = j * kDelta - kSamplePlaneHeight / 2.0;;</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;        t_world_points_.push_back(Eigen::Vector3d(x, y, 0.0));</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;      }</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    }</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;  }</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;  <span class="comment">// Getter for trajectory as a timestamp-to-pose hash map.</span></div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;  <span class="keyword">const</span> absl::flat_hash_map&lt;double, Pose3d&gt;&amp; TrajectoryAsMap()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;    <span class="keywordflow">return</span> trajectory_world_sensorrig_;</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  }</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160; </div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  <span class="comment">// Convenience getter for timestamps.</span></div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160;  <span class="keyword">const</span> std::vector&lt;double&gt;&amp; TrajectoryMapKeys()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;    <span class="keywordflow">return</span> trajectory_key_values_;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  }</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160; </div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  <span class="keyword">const</span> std::vector&lt;Eigen::Vector3d&gt;&amp; WorldPoints()<span class="keyword"> const </span>{</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;    <span class="keywordflow">return</span> t_world_points_;</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;  }</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160; </div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160; <span class="keyword">private</span>:</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;  absl::flat_hash_map&lt;double, Pose3d&gt; trajectory_world_sensorrig_;</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  std::vector&lt;double&gt; trajectory_key_values_;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  std::vector&lt;Eigen::Vector3d&gt; t_world_points_;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160; </div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> kDeg2Rad = M_PI / 180.0;</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="comment">// Sensor rig trajectory specs.</span></div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> kNumSamplesPerSegment = 10;</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> kPosAmplitude = 0.5;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> kAngleAmplitude = 30 * kDeg2Rad;</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> kSegmentDuration = 0.75;</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  <span class="comment">// Planar points specs.</span></div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> kSamplePlaneWidth = 1.5;</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> kSamplePlaneHeight = 1.5;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">double</span> kDelta = 0.3;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> kNumXPoints =</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;      <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(kSamplePlaneWidth / kDelta) + 1;</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  <span class="keyword">static</span> constexpr <span class="keywordtype">int</span> kNumYPoints =</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(kSamplePlaneHeight / kDelta) + 1;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;  std::vector&lt;Eigen::Vector3d&gt; t_world_points;</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;};</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;} <span class="comment">// namespace</span></div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;<span class="preprocessor">#endif </span><span class="comment">// CALICO_TEST_UTILS_H_</span></div>
<div class="ttc" id="aclasscalico_1_1DefaultSyntheticTest_html"><div class="ttname"><a href="classcalico_1_1DefaultSyntheticTest.html">calico::DefaultSyntheticTest</a></div><div class="ttdef"><b>Definition:</b> test_utils.h:11</div></div>
<div class="ttc" id="aclasscalico_1_1Pose3_html"><div class="ttname"><a href="classcalico_1_1Pose3.html">calico::Pose3&lt; double &gt;</a></div></div>
<div class="ttc" id="anamespacecalico_html"><div class="ttname"><a href="namespacecalico.html">calico</a></div><div class="ttdoc">Primary calico namespace.</div><div class="ttdef"><b>Definition:</b> __init__.py:1</div></div>
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